MX2017002341A - Mushroom harvester. - Google Patents

Mushroom harvester.

Info

Publication number
MX2017002341A
MX2017002341A MX2017002341A MX2017002341A MX2017002341A MX 2017002341 A MX2017002341 A MX 2017002341A MX 2017002341 A MX2017002341 A MX 2017002341A MX 2017002341 A MX2017002341 A MX 2017002341A MX 2017002341 A MX2017002341 A MX 2017002341A
Authority
MX
Mexico
Prior art keywords
suction
mushroom
cap
harvesting
gripper
Prior art date
Application number
MX2017002341A
Other languages
Spanish (es)
Inventor
Lau Robert
Renfrew John
Jandrisits Matthew
Van De Vegte John
Original Assignee
Vineland Res And Innovations Centre Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vineland Res And Innovations Centre Inc filed Critical Vineland Res And Innovations Centre Inc
Publication of MX2017002341A publication Critical patent/MX2017002341A/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00—Cultivation of mushrooms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00—Cultivation of mushrooms
    • A01G18/70—Harvesting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0441—Connections means having vacuum or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0675—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum of the ejector type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mycology (AREA)
  • Environmental Sciences (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)

Abstract

A device for harvesting mushrooms from a mushroom bed involves a robotic arm configured to interchangeably deploy one of a plurality of different suction grippers, each of the suction grippers having a suction cup having a size and shape profile appropriate for gripping a cap of a mushroom, the cap having a size and shape profile within a predetermined range. A vacuum source in fluid communication with the suction gripper supplies negative air pressure to the suction gripper for retaining a cap of the mushroom to be harvested in the suction cup. A control circuit in electronic communication with the suction gripper and the vacuum source is configured to automatically adjust the negative air pressure in the suction gripper in response to harvesting requirements during a mushroom harvesting process. A few standard mushroom shapes have been identified, which permits suction cup designs that maximize contact between the suction cups and the mushroom caps, which permits minimizing the strength of the vacuum needed to harvest the mushrooms.
MX2017002341A 2014-08-26 2015-08-20 Mushroom harvester. MX2017002341A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201462041707P 2014-08-26 2014-08-26
PCT/CA2015/050790 WO2016029299A1 (en) 2014-08-26 2015-08-20 Mushroom harvester

Publications (1)

Publication Number Publication Date
MX2017002341A true MX2017002341A (en) 2017-08-07

Family

ID=55398532

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017002341A MX2017002341A (en) 2014-08-26 2015-08-20 Mushroom harvester.

Country Status (8)

Country Link
US (1) US9974235B2 (en)
EP (1) EP3185667B8 (en)
AU (1) AU2015309636B2 (en)
CA (1) CA2958785A1 (en)
ES (1) ES2738974T3 (en)
MX (1) MX2017002341A (en)
PL (1) PL3185667T3 (en)
WO (1) WO2016029299A1 (en)

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CN110063208B (en) * 2019-05-24 2024-03-26 中国矿业大学 Picking manipulator end effector
WO2021081388A1 (en) * 2019-10-23 2021-04-29 Xyz Robotics Inc. End effector tool changer for pick and place robotic systems
JP2021094691A (en) * 2019-12-17 2021-06-24 ボストン ダイナミクス，インコーポレイテッド Intelligent gripper with individual cup control
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Also Published As

Publication number Publication date
US9974235B2 (en) 2018-05-22
EP3185667B8 (en) 2019-06-19
PL3185667T3 (en) 2020-04-30
AU2015309636A1 (en) 2017-03-16
ES2738974T3 (en) 2020-01-28
AU2015309636B2 (en) 2018-09-20
EP3185667A1 (en) 2017-07-05
CA2958785A1 (en) 2016-03-03
EP3185667A4 (en) 2018-03-21
WO2016029299A1 (en) 2016-03-03
US20170265392A1 (en) 2017-09-21
EP3185667B1 (en) 2019-05-01

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Legal Events

Date Code Title Description
HC Change of company name or juridical status

Owner name: FP MARANGONI INC.

FG Grant or registration